diff --git a/app/robots/ergoCubSN000/openXRHeadsetParameters.ini b/app/robots/ergoCubSN000/openXRHeadsetParameters.ini index 43d0e900..8d4370d4 100644 --- a/app/robots/ergoCubSN000/openXRHeadsetParameters.ini +++ b/app/robots/ergoCubSN000/openXRHeadsetParameters.ini @@ -1,14 +1,4 @@ -###Use as subdevice -### Device params -device JoypadControlServer -use_separate_ports 1 -subdevice openxrheadset -stick_as_axis false -#### - -###Use as direct device -#device openxrheadset -### +device openxrheadset period 10 name /headset diff --git a/app/robots/ergoCubSN001/openXRHeadsetParameters.ini b/app/robots/ergoCubSN001/openXRHeadsetParameters.ini index 43d0e900..8d4370d4 100644 --- a/app/robots/ergoCubSN001/openXRHeadsetParameters.ini +++ b/app/robots/ergoCubSN001/openXRHeadsetParameters.ini @@ -1,14 +1,4 @@ -###Use as subdevice -### Device params -device JoypadControlServer -use_separate_ports 1 -subdevice openxrheadset -stick_as_axis false -#### - -###Use as direct device -#device openxrheadset -### +device openxrheadset period 10 name /headset diff --git a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini index 43d0e900..8d4370d4 100644 --- a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini +++ b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini @@ -1,14 +1,4 @@ -###Use as subdevice -### Device params -device JoypadControlServer -use_separate_ports 1 -subdevice openxrheadset -stick_as_axis false -#### - -###Use as direct device -#device openxrheadset -### +device openxrheadset period 10 name /headset diff --git a/app/scripts/ergoCub001-Teleoperation-2.xml b/app/scripts/ergoCub001-Teleoperation-2.xml new file mode 100644 index 00000000..434c2c7a --- /dev/null +++ b/app/scripts/ergoCub001-Teleoperation-2.xml @@ -0,0 +1,50 @@ + + + + + + ergoCub001-Teleoperation-2 + Step 2 for the ergoCub teleoperation. + 1.0 + + Stefano Dafarra + + + + yarpdev + --from openXRHeadsetParameters.ini + icub-virtualizer + + + + yarp + repeat /depthCamera001/repeated/rgbImage:o + ergocub001-lap + + + + yarprobotinterface + --config realsense2.xml + ergocub001-head + + + + + /depthCamera001/rgbImage:o + /depthCamera001/repeated/rgbImage:o + mjpeg + + + + /depthCamera001/repeated/rgbImage:o + /headset/display:i + fast_tcp+send.portmonitor+file.image_compression_ffmpeg+recv.portmonitor+file.image_compression_ffmpeg+type.dll+custom_enc.hevc_nvenc+custom_dec.hevc_cuvid+pixel_format.23+cq.31+delay.2+tune.ull + + + + /object-distance-001/augmented_reality:o + /headset/augmentedReality + fast_tcp+send.portmonitor+file.image_compression_ffmpeg+recv.portmonitor+file.image_compression_ffmpeg+type.dll+custom_enc.hevc_nvenc+custom_dec.hevc_cuvid+pixel_format.23+cq.31+delay.2+tune.ull + + + diff --git a/app/scripts/ergoCub001-Teleoperation-4.xml b/app/scripts/ergoCub001-Teleoperation-4.xml new file mode 100644 index 00000000..28df5813 --- /dev/null +++ b/app/scripts/ergoCub001-Teleoperation-4.xml @@ -0,0 +1,102 @@ + + + + + + + ergoCub001-Teleoperation-4 + Step 4 for the ergoCub teleoperation. + 1.0 + + Stefano Dafarra + + + + ergoCubEmotions + --context ergoCubEmotions --from config.ini --portprefix /ergocub001 + ergocub001-head + + + + SRanipalModule + --skipEyeCalibration --robot ergocub001 --noEyebrows --noEyelids --gazeVelocityGain 2.0 --gazeDeadzone 0.1 --gazeDeadzoneActivationOffset 0.1 --gazeDeadzoneMinActivationTime 0.2 --eyesVersionName none --eyesVergenceName none --eyesTiltName camera_tilt --blinkToDisableGUIs "(0)" --headControlBoardName head + icub-virtualizer + + + + HapticGloveModule + ergocub001-torso + --name HapticGloveRetargeting001 --GENERAL::getHumanMotionRange 0 --GENERAL::waitingDurationTime 0.0 --GENERAL::robot ergocub001 --GENERAL::calibrationTimePeriod 0.1 --GENERAL::robotInitializationTime 1.0 --LEFT_FINGERS_RETARGETING::wearable_data_locals "(/WearableData001/HapticGlove/LeftHand/data:i)" --LEFT_FINGERS_RETARGETING::wearable_data_actuator_ports_out "/WearableData001/HapticGlove/LeftHand/Actuators/input:o" --RIGHT_FINGERS_RETARGETING::wearable_data_locals "(/WearableData001/HapticGlove/RightHand/data:i)" --RIGHT_FINGERS_RETARGETING::wearable_data_actuator_ports_out "/WearableData001/HapticGlove/RightHand/Actuators/input:o" + + + + + WalkingModule + ergocub001-torso + --from dcm_walking_iFeel_joint_retargeting.ini + + + + yarprobotinterface + --config launch-yarp-robot-logger.xml + ergocub-laptop + /home/ergocub/Desktop/walking_logger + + + + + + /SRanipalModule/VR/rpc:o + /headset/rpc + fast_tcp + + + + /SRanipalModule/eyeExpressions:o + /ergocub001/ergoCubEmotions/rpc + fast_tcp + + + + /WearableData/HapticGlove/LeftHand/data:o + /WearableData001/HapticGlove/LeftHand/data:i + fast_tcp + + + + /WearableData/HapticGlove/RightHand/data:o + /WearableData001/HapticGlove/RightHand/data:i + fast_tcp + + + + /WearableData001/HapticGlove/LeftHand/Actuators/input:o + /WearableData/HapticGlove/LeftHand/Actuators/input:i + fast_tcp + + + + /WearableData001/HapticGlove/RightHand/Actuators/input:o + /WearableData/HapticGlove/RightHand/Actuators/input:i + fast_tcp + + + + /ergoCub/RobotStateServer/state:o + /walking-coordinator-001/humanState:i + fast_tcp + + + + /iFeelWalking/goal:o + /walking-coordinator-001/goal:i + fast_tcp + + + + /joypad/goal:o + /walking-coordinator-001/goal:i + fast_tcp + + + diff --git a/app/scripts/ergoCub001-Teleoperation.xml b/app/scripts/ergoCub001-Teleoperation.xml new file mode 100644 index 00000000..3a14f961 --- /dev/null +++ b/app/scripts/ergoCub001-Teleoperation.xml @@ -0,0 +1,30 @@ + + + + + + ergoCub001-Teleoperation + Application to run module related to vision for retargeting. + 1.0 + + Stefano Dafarra + + + + ergoCub-Teleoperation-1 + + + + ergoCub001-Teleoperation-2 + + + + ergoCub-Teleoperation-3 + + + + ergoCub001-Teleoperation-4 + + + +